| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 1 | load("//aos/build:queues.bzl", "queue_library") |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 2 | |
| 3 | genrule( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 4 | name = "genrule_drivetrain", |
| 5 | outs = [ |
| 6 | "drivetrain_dog_motor_plant.h", |
| 7 | "drivetrain_dog_motor_plant.cc", |
| 8 | "kalman_drivetrain_motor_plant.h", |
| 9 | "kalman_drivetrain_motor_plant.cc", |
| 10 | ], |
| 11 | cmd = "$(location //y2018/control_loops/python:drivetrain) $(OUTS)", |
| 12 | tools = [ |
| 13 | "//y2018/control_loops/python:drivetrain", |
| 14 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 15 | ) |
| 16 | |
| 17 | genrule( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 18 | name = "genrule_polydrivetrain", |
| 19 | outs = [ |
| 20 | "polydrivetrain_dog_motor_plant.h", |
| 21 | "polydrivetrain_dog_motor_plant.cc", |
| 22 | "polydrivetrain_cim_plant.h", |
| 23 | "polydrivetrain_cim_plant.cc", |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame^] | 24 | "hybrid_velocity_drivetrain.h", |
| 25 | "hybrid_velocity_drivetrain.cc", |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 26 | ], |
| 27 | cmd = "$(location //y2018/control_loops/python:polydrivetrain) $(OUTS)", |
| 28 | tools = [ |
| 29 | "//y2018/control_loops/python:polydrivetrain", |
| 30 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 31 | ) |
| 32 | |
| 33 | cc_library( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 34 | name = "polydrivetrain_plants", |
| 35 | srcs = [ |
| 36 | "drivetrain_dog_motor_plant.cc", |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame^] | 37 | "hybrid_velocity_drivetrain.cc", |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 38 | "kalman_drivetrain_motor_plant.cc", |
| 39 | "polydrivetrain_dog_motor_plant.cc", |
| 40 | ], |
| 41 | hdrs = [ |
| 42 | "drivetrain_dog_motor_plant.h", |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame^] | 43 | "hybrid_velocity_drivetrain.h", |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 44 | "kalman_drivetrain_motor_plant.h", |
| 45 | "polydrivetrain_dog_motor_plant.h", |
| 46 | ], |
| 47 | visibility = ["//visibility:public"], |
| 48 | deps = [ |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame^] | 49 | "//frc971/control_loops:hybrid_state_feedback_loop", |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 50 | "//frc971/control_loops:state_feedback_loop", |
| 51 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 52 | ) |
| 53 | |
| 54 | cc_library( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 55 | name = "drivetrain_base", |
| 56 | srcs = [ |
| 57 | "drivetrain_base.cc", |
| 58 | ], |
| 59 | hdrs = [ |
| 60 | "drivetrain_base.h", |
| 61 | ], |
| 62 | visibility = ["//visibility:public"], |
| 63 | deps = [ |
| 64 | ":polydrivetrain_plants", |
| 65 | "//frc971:shifter_hall_effect", |
| 66 | "//frc971/control_loops/drivetrain:drivetrain_config", |
| 67 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 68 | ) |
| 69 | |
| 70 | cc_binary( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 71 | name = "drivetrain", |
| 72 | srcs = [ |
| 73 | "drivetrain_main.cc", |
| 74 | ], |
| 75 | visibility = ["//visibility:public"], |
| 76 | deps = [ |
| 77 | ":drivetrain_base", |
| 78 | "//aos:init", |
| 79 | "//frc971/control_loops/drivetrain:drivetrain_lib", |
| 80 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 81 | ) |